I have an older Pfaff with IDT and a new Baby Lock without IDT and I will use the Baby hands down any time. Before I bought the Baby Lock, I actually bought a new Pfaff and that machine drove me to drink. I found the quality to be less compared to my older machine. I know that customer service and support has gone down since the company was bought out by VSP, so I would not buy a new Pfaff now.
I really expected to miss the IDT but I can honestly say that I don't. The Baby Lock has a wider feed dog with more contact points and it causes very little distortion (if any).
Can't answer about the Bernina because Nina and I do not get along well.
Good luck on your decision.